#! /usr/bin/env python

import roslib; roslib.load_manifest('robina_grasp_motion_planning')
import rospy
import actionlib
import robina_grasp_motion_planning.msg

def motion_planner_client():
	client = actionlib.SimpleActionClient('/approach_graspPoint',
	robina_grasp_motion_planning.msg.approach_grasp_pointAction)
	client.wait_for_server()
	goal = robina_grasp_motion_planning.msg.approach_grasp_pointGoal(distance=0.5)
	client.send_goal(goal)
	client.wait_for_result()
if __name__ == '__main__':
	try:
		rospy.init_node('motion_client_py')
		result = motion_planner_client()
	except rospy.ROSInterruptException:
		print "Program crashed"
